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Please take a look at this question #q357762 first as it's similar issue.

For your specific issue, it looks that the error is due to missing left camera, but it can be created virtually:

"This is because the the point’s x/y/z coordinates are relative to the left camera but the left camer’s “frame” does not exist in Rviz’s 'world.' " Source: https://jeffzzq.medium.com/ros2-image-pipeline-tutorial-3b18903e7329.

This can be fixed by:

$ ros2 run tf2_ros static_transform_publisher \
  0 0 4 \
  0 1.5708 1.5708 \
  test_frame_id \
  test_child_frame_id